#include "camodocal/camera_models/PinholeCamera.h"

#include <cmath>
#include <cstdio>
#include <eigen3/Eigen/Dense>
#include <iomanip>
#include <opencv2/calib3d/calib3d.hpp>
#include <opencv2/core/eigen.hpp>
#include <opencv2/imgproc/imgproc.hpp>

#include "camodocal/gpl/gpl.h"

namespace camodocal
{

    PinholeCamera::Parameters::Parameters()
        : Camera::Parameters(PINHOLE), m_k1(0.0), m_k2(0.0), m_p1(0.0), m_p2(0.0), m_fx(0.0), m_fy(0.0), m_cx(0.0), m_cy(0.0)
    {
    }

    PinholeCamera::Parameters::Parameters(const std::string &cameraName,
                                          int w, int h,
                                          double k1, double k2,
                                          double p1, double p2,
                                          double fx, double fy,
                                          double cx, double cy)
        : Camera::Parameters(PINHOLE, cameraName, w, h), m_k1(k1), m_k2(k2), m_p1(p1), m_p2(p2), m_fx(fx), m_fy(fy), m_cx(cx), m_cy(cy)
    {
    }

    double &
    PinholeCamera::Parameters::k1(void)
    {
        return m_k1;
    }

    double &
    PinholeCamera::Parameters::k2(void)
    {
        return m_k2;
    }

    double &
    PinholeCamera::Parameters::p1(void)
    {
        return m_p1;
    }

    double &
    PinholeCamera::Parameters::p2(void)
    {
        return m_p2;
    }

    double &
    PinholeCamera::Parameters::fx(void)
    {
        return m_fx;
    }

    double &
    PinholeCamera::Parameters::fy(void)
    {
        return m_fy;
    }

    double &
    PinholeCamera::Parameters::cx(void)
    {
        return m_cx;
    }

    double &
    PinholeCamera::Parameters::cy(void)
    {
        return m_cy;
    }

    double
    PinholeCamera::Parameters::k1(void) const
    {
        return m_k1;
    }

    double
    PinholeCamera::Parameters::k2(void) const
    {
        return m_k2;
    }

    double
    PinholeCamera::Parameters::p1(void) const
    {
        return m_p1;
    }

    double
    PinholeCamera::Parameters::p2(void) const
    {
        return m_p2;
    }

    double
    PinholeCamera::Parameters::fx(void) const
    {
        return m_fx;
    }

    double
    PinholeCamera::Parameters::fy(void) const
    {
        return m_fy;
    }

    double
    PinholeCamera::Parameters::cx(void) const
    {
        return m_cx;
    }

    double
    PinholeCamera::Parameters::cy(void) const
    {
        return m_cy;
    }

    bool
    PinholeCamera::Parameters::readFromYamlFile(const std::string &filename)
    {
        cv::FileStorage fs(filename, cv::FileStorage::READ);

        if (!fs.isOpened())
        {
            return false;
        }

        if (!fs["model_type"].isNone())
        {
            std::string sModelType;
            fs["model_type"] >> sModelType;

            if (sModelType.compare("PINHOLE") != 0)
            {
                return false;
            }
        }

        m_modelType = PINHOLE;
        fs["camera_name"] >> m_cameraName;
        m_imageWidth = static_cast<int>(fs["image_width"]);
        m_imageHeight = static_cast<int>(fs["image_height"]);

        cv::FileNode n = fs["distortion_parameters"];
        m_k1 = static_cast<double>(n["k1"]);
        m_k2 = static_cast<double>(n["k2"]);
        m_p1 = static_cast<double>(n["p1"]);
        m_p2 = static_cast<double>(n["p2"]);

        n = fs["projection_parameters"];
        m_fx = static_cast<double>(n["fx"]);
        m_fy = static_cast<double>(n["fy"]);
        m_cx = static_cast<double>(n["cx"]);
        m_cy = static_cast<double>(n["cy"]);

        return true;
    }

    void
    PinholeCamera::Parameters::writeToYamlFile(const std::string &filename) const
    {
        cv::FileStorage fs(filename, cv::FileStorage::WRITE);

        fs << "model_type"
           << "PINHOLE";
        fs << "camera_name" << m_cameraName;
        fs << "image_width" << m_imageWidth;
        fs << "image_height" << m_imageHeight;

        // radial distortion: k1, k2
        // tangential distortion: p1, p2
        fs << "distortion_parameters";
        fs << "{"
           << "k1" << m_k1
           << "k2" << m_k2
           << "p1" << m_p1
           << "p2" << m_p2 << "}";

        // projection: fx, fy, cx, cy
        fs << "projection_parameters";
        fs << "{"
           << "fx" << m_fx
           << "fy" << m_fy
           << "cx" << m_cx
           << "cy" << m_cy << "}";

        fs.release();
    }

    PinholeCamera::Parameters &
    PinholeCamera::Parameters::operator=(const PinholeCamera::Parameters &other)
    {
        if (this != &other)
        {
            m_modelType = other.m_modelType;
            m_cameraName = other.m_cameraName;
            m_imageWidth = other.m_imageWidth;
            m_imageHeight = other.m_imageHeight;
            m_k1 = other.m_k1;
            m_k2 = other.m_k2;
            m_p1 = other.m_p1;
            m_p2 = other.m_p2;
            m_fx = other.m_fx;
            m_fy = other.m_fy;
            m_cx = other.m_cx;
            m_cy = other.m_cy;
        }

        return *this;
    }

    std::ostream &
    operator<<(std::ostream &out, const PinholeCamera::Parameters &params)
    {
        out << "Camera Parameters:" << std::endl;
        out << "    model_type "
            << "PINHOLE" << std::endl;
        out << "   camera_name " << params.m_cameraName << std::endl;
        out << "   image_width " << params.m_imageWidth << std::endl;
        out << "  image_height " << params.m_imageHeight << std::endl;

        // radial distortion: k1, k2
        // tangential distortion: p1, p2
        out << "Distortion Parameters" << std::endl;
        out << "            k1 " << params.m_k1 << std::endl
            << "            k2 " << params.m_k2 << std::endl
            << "            p1 " << params.m_p1 << std::endl
            << "            p2 " << params.m_p2 << std::endl;

        // projection: fx, fy, cx, cy
        out << "Projection Parameters" << std::endl;
        out << "            fx " << params.m_fx << std::endl
            << "            fy " << params.m_fy << std::endl
            << "            cx " << params.m_cx << std::endl
            << "            cy " << params.m_cy << std::endl;

        return out;
    }

    PinholeCamera::PinholeCamera()
        : m_inv_K11(1.0), m_inv_K13(0.0), m_inv_K22(1.0), m_inv_K23(0.0), m_noDistortion(true)
    {
    }

    PinholeCamera::PinholeCamera(const std::string &cameraName,
                                 int imageWidth, int imageHeight,
                                 double k1, double k2, double p1, double p2,
                                 double fx, double fy, double cx, double cy)
        : mParameters(cameraName, imageWidth, imageHeight,
                      k1, k2, p1, p2, fx, fy, cx, cy)
    {
        if ((mParameters.k1() == 0.0) &&
            (mParameters.k2() == 0.0) &&
            (mParameters.p1() == 0.0) &&
            (mParameters.p2() == 0.0))
        {
            m_noDistortion = true;
        }
        else
        {
            m_noDistortion = false;
        }

        // Inverse camera projection matrix parameters
        m_inv_K11 = 1.0 / mParameters.fx();
        m_inv_K13 = -mParameters.cx() / mParameters.fx();
        m_inv_K22 = 1.0 / mParameters.fy();
        m_inv_K23 = -mParameters.cy() / mParameters.fy();
    }

    PinholeCamera::PinholeCamera(const PinholeCamera::Parameters &params)
        : mParameters(params)
    {
        if ((mParameters.k1() == 0.0) &&
            (mParameters.k2() == 0.0) &&
            (mParameters.p1() == 0.0) &&
            (mParameters.p2() == 0.0))
        {
            m_noDistortion = true;
        }
        else
        {
            m_noDistortion = false;
        }

        // Inverse camera projection matrix parameters
        m_inv_K11 = 1.0 / mParameters.fx();
        m_inv_K13 = -mParameters.cx() / mParameters.fx();
        m_inv_K22 = 1.0 / mParameters.fy();
        m_inv_K23 = -mParameters.cy() / mParameters.fy();
    }

    Camera::ModelType
    PinholeCamera::modelType(void) const
    {
        return mParameters.modelType();
    }

    const std::string &
    PinholeCamera::cameraName(void) const
    {
        return mParameters.cameraName();
    }

    int
    PinholeCamera::imageWidth(void) const
    {
        return mParameters.imageWidth();
    }

    int
    PinholeCamera::imageHeight(void) const
    {
        return mParameters.imageHeight();
    }

    void
    PinholeCamera::estimateIntrinsics(const cv::Size &boardSize,
                                      const std::vector<std::vector<cv::Point3f>> &objectPoints,
                                      const std::vector<std::vector<cv::Point2f>> &imagePoints)
    {
        // Z. Zhang, A Flexible New Technique for Camera Calibration, PAMI 2000

        Parameters params = getParameters();

        params.k1() = 0.0;
        params.k2() = 0.0;
        params.p1() = 0.0;
        params.p2() = 0.0;

        double cx = params.imageWidth() / 2.0;
        double cy = params.imageHeight() / 2.0;
        params.cx() = cx;
        params.cy() = cy;

        size_t nImages = imagePoints.size();

        cv::Mat A(nImages * 2, 2, CV_64F);
        cv::Mat b(nImages * 2, 1, CV_64F);

        for (size_t i = 0; i < nImages; ++i)
        {
            const std::vector<cv::Point3f> &oPoints = objectPoints.at(i);

            std::vector<cv::Point2f> M(oPoints.size());
            for (size_t j = 0; j < M.size(); ++j)
            {
                M.at(j) = cv::Point2f(oPoints.at(j).x, oPoints.at(j).y);
            }

            cv::Mat H = cv::findHomography(M, imagePoints.at(i));

            H.at<double>(0, 0) -= H.at<double>(2, 0) * cx;
            H.at<double>(0, 1) -= H.at<double>(2, 1) * cx;
            H.at<double>(0, 2) -= H.at<double>(2, 2) * cx;
            H.at<double>(1, 0) -= H.at<double>(2, 0) * cy;
            H.at<double>(1, 1) -= H.at<double>(2, 1) * cy;
            H.at<double>(1, 2) -= H.at<double>(2, 2) * cy;

            double h[3], v[3], d1[3], d2[3];
            double n[4] = {0, 0, 0, 0};

            for (int j = 0; j < 3; ++j)
            {
                double t0 = H.at<double>(j, 0);
                double t1 = H.at<double>(j, 1);
                h[j] = t0;
                v[j] = t1;
                d1[j] = (t0 + t1) * 0.5;
                d2[j] = (t0 - t1) * 0.5;
                n[0] += t0 * t0;
                n[1] += t1 * t1;
                n[2] += d1[j] * d1[j];
                n[3] += d2[j] * d2[j];
            }

            for (int j = 0; j < 4; ++j)
            {
                n[j] = 1.0 / sqrt(n[j]);
            }

            for (int j = 0; j < 3; ++j)
            {
                h[j] *= n[0];
                v[j] *= n[1];
                d1[j] *= n[2];
                d2[j] *= n[3];
            }

            A.at<double>(i * 2, 0) = h[0] * v[0];
            A.at<double>(i * 2, 1) = h[1] * v[1];
            A.at<double>(i * 2 + 1, 0) = d1[0] * d2[0];
            A.at<double>(i * 2 + 1, 1) = d1[1] * d2[1];
            b.at<double>(i * 2, 0) = -h[2] * v[2];
            b.at<double>(i * 2 + 1, 0) = -d1[2] * d2[2];
        }

        cv::Mat f(2, 1, CV_64F);
        cv::solve(A, b, f, cv::DECOMP_NORMAL | cv::DECOMP_LU);

        params.fx() = sqrt(fabs(1.0 / f.at<double>(0)));
        params.fy() = sqrt(fabs(1.0 / f.at<double>(1)));

        setParameters(params);
    }

    /**
     * \brief Lifts a point from the image plane to the unit sphere
     *
     * \param p image coordinates
     * \param P coordinates of the point on the sphere
     */
    void
    PinholeCamera::liftSphere(const Eigen::Vector2d &p, Eigen::Vector3d &P) const
    {
        liftProjective(p, P);

        P.normalize();
    }

    /**
     * \brief Lifts a point from the image plane to its projective ray
     *
     * \param p image coordinates
     * \param P coordinates of the projective ray
     */
    void
    PinholeCamera::liftProjective(const Eigen::Vector2d &p, Eigen::Vector3d &P) const
    {
        double mx_d, my_d, mx2_d, mxy_d, my2_d, mx_u, my_u;
        double rho2_d, rho4_d, radDist_d, Dx_d, Dy_d, inv_denom_d;
        // double lambda;

        // Lift points to normalised plane
        mx_d = m_inv_K11 * p(0) + m_inv_K13;
        my_d = m_inv_K22 * p(1) + m_inv_K23;

        if (m_noDistortion)
        {
            mx_u = mx_d;
            my_u = my_d;
        }
        else
        {
            if (0)
            {
                double k1 = mParameters.k1();
                double k2 = mParameters.k2();
                double p1 = mParameters.p1();
                double p2 = mParameters.p2();

                // Apply inverse distortion model
                // proposed by Heikkila
                mx2_d = mx_d * mx_d;
                my2_d = my_d * my_d;
                mxy_d = mx_d * my_d;
                rho2_d = mx2_d + my2_d;
                rho4_d = rho2_d * rho2_d;
                radDist_d = k1 * rho2_d + k2 * rho4_d;
                Dx_d = mx_d * radDist_d + p2 * (rho2_d + 2 * mx2_d) + 2 * p1 * mxy_d;
                Dy_d = my_d * radDist_d + p1 * (rho2_d + 2 * my2_d) + 2 * p2 * mxy_d;
                inv_denom_d = 1 / (1 + 4 * k1 * rho2_d + 6 * k2 * rho4_d + 8 * p1 * my_d + 8 * p2 * mx_d);

                mx_u = mx_d - inv_denom_d * Dx_d;
                my_u = my_d - inv_denom_d * Dy_d;
            }
            else
            {
                // Recursive distortion model
                int n = 8;
                Eigen::Vector2d d_u;
                distortion(Eigen::Vector2d(mx_d, my_d), d_u);
                // Approximate value
                mx_u = mx_d - d_u(0);
                my_u = my_d - d_u(1);

                for (int i = 1; i < n; ++i)
                {
                    distortion(Eigen::Vector2d(mx_u, my_u), d_u);
                    mx_u = mx_d - d_u(0);
                    my_u = my_d - d_u(1);
                }
            }
        }

        // Obtain a projective ray
        P << mx_u, my_u, 1.0;
    }

    /**
     * \brief Project a 3D point (\a x,\a y,\a z) to the image plane in (\a u,\a v)
     *
     * \param P 3D point coordinates
     * \param p return value, contains the image point coordinates
     */
    void
    PinholeCamera::spaceToPlane(const Eigen::Vector3d &P, Eigen::Vector2d &p) const
    {
        Eigen::Vector2d p_u, p_d;

        // Project points to the normalised plane
        p_u << P(0) / P(2), P(1) / P(2);

        if (m_noDistortion)
        {
            p_d = p_u;
        }
        else
        {
            // Apply distortion
            Eigen::Vector2d d_u;
            distortion(p_u, d_u);
            p_d = p_u + d_u;
        }

        // Apply generalised projection matrix
        p << mParameters.fx() * p_d(0) + mParameters.cx(),
            mParameters.fy() * p_d(1) + mParameters.cy();
    }

#if 0
/**
 * \brief Project a 3D point to the image plane and calculate Jacobian
 *
 * \param P 3D point coordinates
 * \param p return value, contains the image point coordinates
 */
void
PinholeCamera::spaceToPlane(const Eigen::Vector3d& P, Eigen::Vector2d& p,
                            Eigen::Matrix<double,2,3>& J) const
{
    Eigen::Vector2d p_u, p_d;
    double norm, inv_denom;
    double dxdmx, dydmx, dxdmy, dydmy;

    norm = P.norm();
    // Project points to the normalised plane
    inv_denom = 1.0 / P(2);
    p_u << inv_denom * P(0), inv_denom * P(1);

    // Calculate jacobian
    double dudx = inv_denom;
    double dvdx = 0.0;
    double dudy = 0.0;
    double dvdy = inv_denom;
    inv_denom = - inv_denom * inv_denom;
    double dudz = P(0) * inv_denom;
    double dvdz = P(1) * inv_denom;

    if (m_noDistortion)
    {
        p_d = p_u;
    }
    else
    {
        // Apply distortion
        Eigen::Vector2d d_u;
        distortion(p_u, d_u);
        p_d = p_u + d_u;
    }

    double fx = mParameters.fx();
    double fy = mParameters.fy();

    // Make the product of the jacobians
    // and add projection matrix jacobian
    inv_denom = fx * (dudx * dxdmx + dvdx * dxdmy); // reuse
    dvdx = fy * (dudx * dydmx + dvdx * dydmy);
    dudx = inv_denom;

    inv_denom = fx * (dudy * dxdmx + dvdy * dxdmy); // reuse
    dvdy = fy * (dudy * dydmx + dvdy * dydmy);
    dudy = inv_denom;

    inv_denom = fx * (dudz * dxdmx + dvdz * dxdmy); // reuse
    dvdz = fy * (dudz * dydmx + dvdz * dydmy);
    dudz = inv_denom;

    // Apply generalised projection matrix
    p << fx * p_d(0) + mParameters.cx(),
         fy * p_d(1) + mParameters.cy();

    J << dudx, dudy, dudz,
         dvdx, dvdy, dvdz;
}
#endif

    /**
     * \brief Projects an undistorted 2D point p_u to the image plane
     *
     * \param p_u 2D point coordinates
     * \return image point coordinates
     */
    void
    PinholeCamera::undistToPlane(const Eigen::Vector2d &p_u, Eigen::Vector2d &p) const
    {
        Eigen::Vector2d p_d;

        if (m_noDistortion)
        {
            p_d = p_u;
        }
        else
        {
            // Apply distortion
            Eigen::Vector2d d_u;
            distortion(p_u, d_u);
            p_d = p_u + d_u;
        }

        // Apply generalised projection matrix
        p << mParameters.fx() * p_d(0) + mParameters.cx(),
            mParameters.fy() * p_d(1) + mParameters.cy();
    }

    /**
     * \brief Apply distortion to input point (from the normalised plane)
     *
     * \param p_u undistorted coordinates of point on the normalised plane
     * \return to obtain the distorted point: p_d = p_u + d_u
     */
    void
    PinholeCamera::distortion(const Eigen::Vector2d &p_u, Eigen::Vector2d &d_u) const
    {
        double k1 = mParameters.k1();
        double k2 = mParameters.k2();
        double p1 = mParameters.p1();
        double p2 = mParameters.p2();

        double mx2_u, my2_u, mxy_u, rho2_u, rad_dist_u;

        mx2_u = p_u(0) * p_u(0);
        my2_u = p_u(1) * p_u(1);
        mxy_u = p_u(0) * p_u(1);
        rho2_u = mx2_u + my2_u;
        rad_dist_u = k1 * rho2_u + k2 * rho2_u * rho2_u;
        d_u << p_u(0) * rad_dist_u + 2.0 * p1 * mxy_u + p2 * (rho2_u + 2.0 * mx2_u),
            p_u(1) * rad_dist_u + 2.0 * p2 * mxy_u + p1 * (rho2_u + 2.0 * my2_u);
    }

    /**
     * \brief Apply distortion to input point (from the normalised plane)
     *        and calculate Jacobian
     *
     * \param p_u undistorted coordinates of point on the normalised plane
     * \return to obtain the distorted point: p_d = p_u + d_u
     */
    void
    PinholeCamera::distortion(const Eigen::Vector2d &p_u, Eigen::Vector2d &d_u,
                              Eigen::Matrix2d &J) const
    {
        double k1 = mParameters.k1();
        double k2 = mParameters.k2();
        double p1 = mParameters.p1();
        double p2 = mParameters.p2();

        double mx2_u, my2_u, mxy_u, rho2_u, rad_dist_u;

        mx2_u = p_u(0) * p_u(0);
        my2_u = p_u(1) * p_u(1);
        mxy_u = p_u(0) * p_u(1);
        rho2_u = mx2_u + my2_u;
        rad_dist_u = k1 * rho2_u + k2 * rho2_u * rho2_u;
        d_u << p_u(0) * rad_dist_u + 2.0 * p1 * mxy_u + p2 * (rho2_u + 2.0 * mx2_u),
            p_u(1) * rad_dist_u + 2.0 * p2 * mxy_u + p1 * (rho2_u + 2.0 * my2_u);

        double dxdmx = 1.0 + rad_dist_u + k1 * 2.0 * mx2_u + k2 * rho2_u * 4.0 * mx2_u + 2.0 * p1 * p_u(1) + 6.0 * p2 * p_u(0);
        double dydmx = k1 * 2.0 * p_u(0) * p_u(1) + k2 * 4.0 * rho2_u * p_u(0) * p_u(1) + p1 * 2.0 * p_u(0) + 2.0 * p2 * p_u(1);
        double dxdmy = dydmx;
        double dydmy = 1.0 + rad_dist_u + k1 * 2.0 * my2_u + k2 * rho2_u * 4.0 * my2_u + 6.0 * p1 * p_u(1) + 2.0 * p2 * p_u(0);

        J << dxdmx, dxdmy,
            dydmx, dydmy;
    }

    void
    PinholeCamera::initUndistortMap(cv::Mat &map1, cv::Mat &map2, double fScale) const
    {
        cv::Size imageSize(mParameters.imageWidth(), mParameters.imageHeight());

        cv::Mat mapX = cv::Mat::zeros(imageSize, CV_32F);
        cv::Mat mapY = cv::Mat::zeros(imageSize, CV_32F);

        for (int v = 0; v < imageSize.height; ++v)
        {
            for (int u = 0; u < imageSize.width; ++u)
            {
                double mx_u = m_inv_K11 / fScale * u + m_inv_K13 / fScale;
                double my_u = m_inv_K22 / fScale * v + m_inv_K23 / fScale;

                Eigen::Vector3d P;
                P << mx_u, my_u, 1.0;

                Eigen::Vector2d p;
                spaceToPlane(P, p);

                mapX.at<float>(v, u) = p(0);
                mapY.at<float>(v, u) = p(1);
            }
        }

        cv::convertMaps(mapX, mapY, map1, map2, CV_32FC1, false);
    }

    cv::Mat
    PinholeCamera::initUndistortRectifyMap(cv::Mat &map1, cv::Mat &map2,
                                           float fx, float fy,
                                           cv::Size imageSize,
                                           float cx, float cy,
                                           cv::Mat rmat) const
    {
        if (imageSize == cv::Size(0, 0))
        {
            imageSize = cv::Size(mParameters.imageWidth(), mParameters.imageHeight());
        }

        cv::Mat mapX = cv::Mat::zeros(imageSize.height, imageSize.width, CV_32F);
        cv::Mat mapY = cv::Mat::zeros(imageSize.height, imageSize.width, CV_32F);

        Eigen::Matrix3f R, R_inv;
        cv::cv2eigen(rmat, R);
        R_inv = R.inverse();

        // assume no skew
        Eigen::Matrix3f K_rect;

        if (cx == -1.0f || cy == -1.0f)
        {
            K_rect << fx, 0, imageSize.width / 2,
                0, fy, imageSize.height / 2,
                0, 0, 1;
        }
        else
        {
            K_rect << fx, 0, cx,
                0, fy, cy,
                0, 0, 1;
        }

        if (fx == -1.0f || fy == -1.0f)
        {
            K_rect(0, 0) = mParameters.fx();
            K_rect(1, 1) = mParameters.fy();
        }

        Eigen::Matrix3f K_rect_inv = K_rect.inverse();

        for (int v = 0; v < imageSize.height; ++v)
        {
            for (int u = 0; u < imageSize.width; ++u)
            {
                Eigen::Vector3f xo;
                xo << u, v, 1;

                Eigen::Vector3f uo = R_inv * K_rect_inv * xo;

                Eigen::Vector2d p;
                spaceToPlane(uo.cast<double>(), p);

                mapX.at<float>(v, u) = p(0);
                mapY.at<float>(v, u) = p(1);
            }
        }

        cv::convertMaps(mapX, mapY, map1, map2, CV_32FC1, false);

        cv::Mat K_rect_cv;
        cv::eigen2cv(K_rect, K_rect_cv);
        return K_rect_cv;
    }

    int
    PinholeCamera::parameterCount(void) const
    {
        return 8;
    }

    const PinholeCamera::Parameters &
    PinholeCamera::getParameters(void) const
    {
        return mParameters;
    }

    void
    PinholeCamera::setParameters(const PinholeCamera::Parameters &parameters)
    {
        mParameters = parameters;

        if ((mParameters.k1() == 0.0) &&
            (mParameters.k2() == 0.0) &&
            (mParameters.p1() == 0.0) &&
            (mParameters.p2() == 0.0))
        {
            m_noDistortion = true;
        }
        else
        {
            m_noDistortion = false;
        }

        m_inv_K11 = 1.0 / mParameters.fx();
        m_inv_K13 = -mParameters.cx() / mParameters.fx();
        m_inv_K22 = 1.0 / mParameters.fy();
        m_inv_K23 = -mParameters.cy() / mParameters.fy();
    }

    void
    PinholeCamera::readParameters(const std::vector<double> &parameterVec)
    {
        if ((int)parameterVec.size() != parameterCount())
        {
            return;
        }

        Parameters params = getParameters();

        params.k1() = parameterVec.at(0);
        params.k2() = parameterVec.at(1);
        params.p1() = parameterVec.at(2);
        params.p2() = parameterVec.at(3);
        params.fx() = parameterVec.at(4);
        params.fy() = parameterVec.at(5);
        params.cx() = parameterVec.at(6);
        params.cy() = parameterVec.at(7);

        setParameters(params);
    }

    void
    PinholeCamera::writeParameters(std::vector<double> &parameterVec) const
    {
        parameterVec.resize(parameterCount());
        parameterVec.at(0) = mParameters.k1();
        parameterVec.at(1) = mParameters.k2();
        parameterVec.at(2) = mParameters.p1();
        parameterVec.at(3) = mParameters.p2();
        parameterVec.at(4) = mParameters.fx();
        parameterVec.at(5) = mParameters.fy();
        parameterVec.at(6) = mParameters.cx();
        parameterVec.at(7) = mParameters.cy();
    }

    void
    PinholeCamera::writeParametersToYamlFile(const std::string &filename) const
    {
        mParameters.writeToYamlFile(filename);
    }

    std::string
    PinholeCamera::parametersToString(void) const
    {
        std::ostringstream oss;
        oss << mParameters;

        return oss.str();
    }

}
